CN114313061A - Movable type monitoring robot chassis structure with double steering mechanisms - Google Patents
Movable type monitoring robot chassis structure with double steering mechanisms Download PDFInfo
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- CN114313061A CN114313061A CN202111606922.3A CN202111606922A CN114313061A CN 114313061 A CN114313061 A CN 114313061A CN 202111606922 A CN202111606922 A CN 202111606922A CN 114313061 A CN114313061 A CN 114313061A
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- 239000000725 suspension Substances 0.000 claims abstract description 105
- 230000003014 reinforcing effect Effects 0.000 claims description 23
- 230000009977 dual effect Effects 0.000 claims description 9
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Abstract
The invention discloses a mobile monitoring robot chassis structure with a double-steering mechanism. The four independent suspensions that portable supervisory-controlled robot chassis structure possessed for the robot also can be stable passing through on some rugged road surfaces, guarantees the stability of automobile body. In addition, the front and back Ackermann steering structures arranged on the chassis of the mobile monitoring robot can enable the turning radius of the robot to become smaller and realize omnidirectional movement. The chassis mechanism of the mobile monitoring robot with the front and rear double-steering mechanisms has a compact structure, can realize the capability of omnidirectional movement, and has better maneuvering performance.
Description
Technical Field
The invention relates to the technical field of mobile security monitoring equipment, in particular to a mobile monitoring robot chassis structure with a double-steering mechanism.
Background
With the continuous development of the video security monitoring industry, the video monitoring plays an increasingly greater role in smart city monitoring. The traditional video security system firstly selects a proper monitoring point location, then arranges a certain number of front-end monitoring cameras on the monitoring point location, and sends data to a data center through a wired or wireless communication means. However, the traditional video security system has a certain monitoring limitation due to the fixed monitoring point location, and with the development of the robot technology, the mobile robot is gradually and widely applied to the monitoring inspection system, and the mobile robot carries the video monitoring system to perform cruise detection in a monitoring area through a fixed path, which is also called as one of the hotspot development directions of the current video security monitoring technology.
The chassis structure of the current mobile robot is mainly divided into a wheeled robot, a legged robot and a tracked robot. The wheeled robot has better motion efficiency in an indoor environment or an outdoor environment with a flat road, and is also a robot type commonly used by the inspection monitoring robot at present. Wheeled robots can be divided into two-wheel differential drive robots, four-wheel rear drive robots and the like, and the robots all adopt common wheels. The turning radius of the two-wheel differential drive robot is smaller, but the load capacity is generally not larger than that of the four-wheel robot. The four-wheel differential drive robot has better load capacity, but the steering mainly moves the differential control of the left and right wheel sets, and has larger influence on the tires. The four-wheel rear-drive robot is mainly driven by double motors of rear wheels, but the steering structure of the four-wheel rear-drive robot mainly adopts an Ackerman structure, but the four-wheel rear-drive robot cannot realize pivot turning. And the three kinds of mobile robots can only realize linear motion and turning motion, and the maneuvering performance is general. In order to enable the mobile robot to have better maneuvering performance, researchers develop wheel-type structures such as mecanum wheels or universal wheels, and the mobile robot provided with the mecanum wheels or the universal wheels can realize modes such as any oblique line motion. In order to solve the problem, a wheeled mobile robot chassis is urgently needed to be provided, which has a compact structure, can realize omnidirectional movement capability and has better maneuvering performance.
Disclosure of Invention
The invention provides a mobile monitoring robot chassis structure with a double-steering mechanism, which overcomes the technical defects and shortcomings in the prior art.
The invention relates to a mobile monitoring robot chassis structure with a double-steering mechanism, which mainly comprises four hub motors, four independent chassis suspensions and two Ackerman structures. The chassis structure of the whole front and back double-steering mechanism mobile monitoring robot has four independent suspensions, so that the chassis can stably pass through the rugged road, the stability of the vehicle body is ensured, and the front and back two Ackermann structures of the whole chassis can make the steering radius of the chassis smaller and realize omnidirectional motion.
The chassis structure of the mobile monitoring robot with the double steering mechanisms is a structure which is completely symmetrical in front and back, and therefore the front half part of the chassis is taken as an example for explanation. The front half part structure of the chassis of the front and back double-steering mechanism movable monitoring robot mainly comprises two hub motors on the left side and the right side of the chassis, a chassis front end anti-collision plate, a chassis front end T-shaped aluminum plate, a chassis front end reinforcing section bar, a chassis front end U-shaped baffle, a chassis front end supporting section bar and a chassis front end side baffle supporting section bar. The chassis reinforcing section bar fixed below the U-shaped baffle at the front end of the chassis can reinforce the rigid structure of the vehicle body, so that the chassis is more stable during movement. The chassis supporting section bars fixed on the two sides of the U-shaped baffle at the front end of the chassis are used as a supporting structure, so that the chassis has expandability, and some components can be mounted on the chassis to realize different functions. The chassis front end T-shaped aluminum plate is fixed below the chassis front end U-shaped baffle and used for fixing the lower end of the chassis front end anti-collision plate, the upper end of the chassis front end anti-collision plate is connected with the chassis supporting section bar and fixed, and the chassis front end anti-collision plate protects a suspension and an Ackerman structure of the chassis, so that the vehicle body structure has good stability when the chassis operates.
The chassis of the mobile monitoring robot is provided with four same chassis suspensions, and one of the four same chassis suspensions is taken as an example for illustration. The front wheel suspension support and the rear wheel suspension support are fixed on a chassis bottom plate through a wheel suspension support fixing seat, the front wheel suspension support and the rear wheel suspension support are connected with a lower wheel suspension fork plate through a right side connecting piece of a lower wheel suspension fork plate, the lower wheel suspension fork plate is connected with a lower wheel steering fixing block through a left side connecting piece of the lower wheel suspension fork plate, the lower wheel steering fixing block and an upper wheel steering fixing block are connected to a wheel bearing seat together, the upper wheel steering fixing block is connected with an upper wheel suspension fork plate, the upper wheel suspension fork plate is connected between the front wheel suspension support and the rear wheel suspension support, and finally the shock absorber is fixed on the front wheel suspension support, the rear wheel suspension support and the lower wheel suspension fork plate.
The front and rear steering mechanisms of the chassis of the mobile monitoring robot are all of the same ackermann structure, so that one of the front and rear steering mechanisms is taken as an example, and the steering mechanism mainly comprises a left fisheye joint of a passive steering rod, a right fisheye joint of the passive steering rod, a slide rail guide rail frame, a slide rail fixing frame, a steering engine crank, a steering engine fixing seat, a steering engine, a left fisheye joint of the steering engine steering rod, a right fisheye joint of the steering engine steering rod, a left fisheye joint of an active steering rod, a right fisheye joint of the active steering rod, a right steering link angle plate and a left steering link angle plate. The steering wheel steering rod is connected with the active steering rod through a fisheye joint at the right side of the steering wheel steering rod, the active steering rod is connected with a right steering link angle plate through a fisheye joint at the right side of the active steering rod, the rotating direction of the steering wheel is reflected to the steering link angle plate so as to drive the rotation of the wheel, the fisheye joint at the right side of the steering wheel steering rod and the fisheye joint at the left side of the active steering rod are jointly connected to the slide rail fixing frame, can convert the steering wheel pivoted direction to the slide rail horizontal slip, passive steering column is connected with the slide rail mount through passive steering column right side fisheye joint, and passive steering column rethread passive steering column left side fisheye joint is connected with the left side steering link scute to can drive the wheel during slide rail horizontal slip and turn to, consequently as long as turn to the steering wheel when rotatory, just can drive turning to of both sides wheel, form ackermann and turn to.
The mobile monitoring robot of the invention can form different driving modes: firstly, when the steering engine does not rotate, the directions of four wheels of a chassis are not changed, the chassis moves forwards or backwards along a straight line when the rotating speeds and directions of the four wheels of the chassis are the same, the chassis can turn when the speeds of the left and right wheels are different, and the chassis can rotate in situ when the speeds of the left and right wheels are the same and the rotating directions are different, and the chassis is the same as a four-wheel differential chassis; secondly, when a steering engine at the front end of the chassis rotates, the chassis can perform turning motion, and compared with four-wheel differential speed, the steering engine can reduce the loss of tires due to friction as the chassis performs the same steering motion as Ackerman steering; finally, when the steering engines at the front end and the rear end of the chassis can rotate, the steering of tires on the front side and the rear side of the chassis are different, the turning motion of the chassis can be realized, the turning radius is reduced, the loss of the tires due to friction can also be reduced, and when the steering of the tires on the front side and the rear side of the chassis is the same, the chassis can move obliquely in a manner similar to that of a Mecanum wheel chassis, so that the omnidirectional motion is realized.
The invention has the following beneficial effects: the mobile robot chassis mechanism is provided with a suspension mechanism, and can move compactly in a rugged environment; secondly, a front steering mechanism and a rear steering mechanism are adopted, so that the omnidirectional movement capability can be realized; and the three-wheel drive mode and the four-wheel drive mode have larger load capacity.
Drawings
FIG. 1 is a schematic diagram of a chassis structure of a mobile monitoring robot with a double steering mechanism according to the present invention;
FIG. 2 is a schematic view of the front half of a mobile supervisory robot chassis with dual steering mechanism according to the present invention;
FIG. 3 is a top view of the front half of the mobile supervisory robot chassis with dual steering mechanism of the present invention;
FIG. 4 is a schematic three-dimensional structure of the front half of the chassis of the mobile monitoring robot with the double steering mechanism according to the present invention;
FIG. 5 is a schematic diagram of a chassis suspension mechanism of the mobile supervisory robot with dual steering mechanism of the present invention;
FIG. 6 is a schematic view of a chassis steering mechanism of the mobile supervisory robot with dual steering mechanism of the present invention;
FIG. 7 is a top view of the mobile supervisory robot chassis steering mechanism with dual steering mechanism of the present invention;
fig. 8 is a schematic diagram of different driving modes of the mobile monitoring robot with the double steering mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, the chassis structure of the mobile monitoring robot with dual steering mechanisms of the present invention includes main components including a chassis left front hub motor 101, a chassis left rear hub motor 102, a chassis right rear hub motor 103, a chassis right front hub motor 104, a chassis left rear suspension 105, a chassis right rear suspension 106, a chassis right front suspension 107, a chassis left front suspension 108, a chassis rear ackermann structure 109, a chassis front ackermann structure 110, and a chassis base plate 111. The chassis left front side hub motor 101 is connected to the chassis left front side suspension 108, the chassis left rear side hub motor 102 is connected to the chassis left rear side suspension 105, the chassis right rear side hub motor 103 is connected to the chassis right rear side suspension 106, the chassis right front side hub motor 104 is connected to the chassis right front side suspension 107, the chassis right front side suspension 107 and the chassis left front side suspension 108 are connected to the chassis front side ackermann structure 110, the chassis left rear side suspension 105 and the chassis right rear side suspension 106 are connected to the chassis rear side ackermann structure 109, and the chassis rear side ackermann structure 109 and the chassis front side ackermann structure 110 are respectively fixed to the front and rear sides of the chassis base plate 111. The whole front and back double-steering mechanism mobile type monitoring robot chassis structure is provided with 4 independent suspensions, so that the chassis can stably pass through some rugged roads, the stability of a vehicle body is ensured, the whole chassis is provided with a front and back Ackermann structure, the steering radius of the chassis can be smaller, the omnidirectional motion is realized, and the chassis has better maneuvering performance.
Referring to fig. 2, 3 and 4, the chassis structure of the mobile monitoring robot with a dual-steering mechanism according to the present invention is a completely symmetrical structure in front and back, and therefore, the front half of the chassis is taken as an example for analysis. The front half part structure of the chassis of the front and rear double-steering mechanism mobile monitoring robot mainly comprises a chassis left front side hub motor 101, a chassis right front side hub motor 104, a chassis front end anti-collision plate 112, a chassis front end T-shaped aluminum plate 113, a chassis front end transverse reinforcing section 114, a chassis front end U-shaped baffle 115, a chassis front end left side short reinforcing section 116, a chassis front end left side long reinforcing section 117, a chassis front end right side long reinforcing section 118, a chassis front end right side short reinforcing section 119, a chassis front end right side short supporting section 120, a chassis front end right side long supporting section 121, a chassis front end left side long supporting section 122, a chassis front end left side short supporting section 123, a chassis front end transverse supporting section 124 and a chassis front end side baffle supporting section 125.
A structure capable of enhancing the rigidity of a vehicle body is formed by a chassis front end transverse reinforcing section 114, a chassis front end left side short reinforcing section 116, a chassis front end left side long reinforcing section 117, a chassis front end right side long reinforcing section 118 and a chassis front end right side short reinforcing section 119 and is fixed below a chassis front end U-shaped baffle 115, so that the chassis is more stable during movement. The chassis front end right side short supporting section bar 120, the chassis front end right side long supporting section bar 121, the chassis front end left side long supporting section bar 122, the chassis front end left side short supporting section bar 123 and the chassis front end transverse supporting section bar 124 form a supporting structure to be fixed on the two sides of the chassis front end U-shaped baffle plate 115, so that the chassis has expandability, and some components can be installed on the chassis to realize different functions. The chassis front end T-shaped aluminum plate 113 is fixed below the chassis front end U-shaped baffle 115 and is used for fixing the lower end of the chassis front end anti-collision plate 112, the upper end of the chassis front end anti-collision plate 112 is connected and fixed with the chassis front end right side long supporting section 121 and the chassis front end left side long supporting section 122, and the chassis front end anti-collision plate 112 protects the suspension and the Ackerman structure of the chassis, so that the vehicle body structure has good stability when the chassis runs.
Referring to fig. 5, the mobile monitoring robot chassis of the present invention has 4 identical independent suspension mechanisms, and taking one of them as an example, the suspension mechanism mainly includes a shock absorber 126, a wheel suspension front bracket 127, a wheel suspension rear bracket 128, a wheel suspension upper fork 129, a wheel steering upper fixing block 130, a wheel suspension upper fork front side connecting piece 131, a wheel suspension upper fork rear side connecting piece 132, a wheel bearing seat 133, a wheel suspension lower fork 134, a wheel steering lower fixing block 135, a wheel suspension lower fork left rear side connecting piece 136, a wheel suspension lower fork left front side connecting piece 137, a wheel suspension lower fork right rear side connecting piece 138, a wheel suspension lower fork right front side connecting piece 139, and wheel suspension bracket holders 140, 141, 142. The front wheel suspension bracket 127 and the rear wheel suspension bracket 128 are fixed on the chassis bottom plate 111 through wheel suspension bracket fixing seats 140, 141 and 142, the front wheel suspension bracket 127 and the rear wheel suspension bracket 128 are connected with a lower wheel suspension fork plate 134 through a right wheel suspension lower fork plate rear side connecting piece 138 and a right wheel suspension lower fork plate front side connecting piece 139, the lower wheel suspension fork plate 134 is connected with a lower wheel steering fixing block 135 through a left wheel suspension lower fork plate rear side connecting piece 136 and a left wheel suspension lower fork plate front side connecting piece 137, the lower wheel steering fixing block 135 and the upper wheel steering fixing block 130 are connected to a wheel bearing seat 133 together, the upper wheel steering fixing block 130 is connected with an upper wheel suspension fork plate 129, the upper wheel suspension fork plate 129 is connected between the front wheel suspension bracket 127 and the rear wheel suspension bracket 128, and finally the shock absorber 126 is fixed on the front wheel suspension bracket 127, The wheel suspension rear bracket 128 is attached to the wheel suspension lower fork plate.
Referring to fig. 6 and 7, the front and rear steering mechanisms of the chassis of the mobile monitoring robot of the present invention are all of the same ackermann structure, and therefore, taking one of them as an example, the steering mechanism mainly includes a left fisheye joint 143 of a passive steering rod, a passive steering rod 144, a right fisheye joint 145 of the passive steering rod, a slide rail guide rail frame 146, a slide rail fixing frame 147, a steering engine crank 148, a steering engine fixing seat 149, a steering engine 150, a left fisheye joint 151 of the steering engine steering rod, a steering engine steering rod 152, a right fisheye joint 153 of the steering engine steering rod, a left fisheye joint 154 of the active steering rod, an active steering rod 155, a right fisheye joint 156 of the active steering rod, a right steering link angle plate 157, and a left steering link angle plate 158. A sliding rail guide rail frame 146 is fixed on a wheel suspension rear support 128 for sliding of a sliding rail on the sliding rail frame 146, a sliding rail fixing frame 147 fixes the sliding rail and is installed on the sliding rail guide rail frame 146, a steering engine 150 is installed on a steering engine fixing seat 149, the steering engine fixing seat 149 is further fixed on a chassis bottom plate 111, a steering engine crank 148 is connected with the steering engine 150 and is connected with a steering engine steering rod 152 through a steering engine steering rod left fish eye joint 151, the rotating direction of the steering engine 150 is transmitted to the steering engine steering rod 152, the steering engine steering rod 152 is connected with an active steering rod 155 through a steering engine steering rod right fish eye joint 153, the rotating direction of the steering engine 150 is transmitted to the active steering rod 155, the active steering rod 155 is connected with a right steering link angle plate 157 through the active steering rod right fish eye joint 156, the rotating direction of the steering engine 150 is reflected to the steering link angle plate 157, so as to drive the rotation of the wheels, steering engine steering column right side fisheye joint 153 is connected to slide rail mount 147 with initiative steering column left side fisheye joint 154 again on, can convert the direction that turns to steering engine 150 and rotate into the slide rail horizontal slip, passive steering column 144 is connected with slide rail mount 147 through passive steering column right side fisheye joint 145, passive steering column 144 rethread passive steering column left side fisheye joint 143 is connected with left side steering link scute 158, thereby can drive the wheel and turn to when the slide rail horizontal slip, consequently as long as turn to steering engine 150 when rotatory, just can drive turning to of both sides wheel, form ackermann and turn to.
Referring to fig. 8, the mobile monitoring robot of the present invention can form different driving modes: firstly, when the steering engine 150 does not rotate, the directions of the four wheels of the chassis are not changed, the chassis moves forwards or backwards along a straight line when the rotating speeds and directions of the 4 wheels of the chassis are the same, the chassis can turn when the speeds of the left and right wheels are different, and the chassis can rotate in situ when the speeds of the left and right wheels are the same and the rotating directions are different, and the chassis is the same as a four-wheel differential chassis; secondly, when the steering engine 150 at the front end of the chassis rotates, the chassis can perform turning motion, and compared with four-wheel differential speed, the steering engine can reduce the loss of tires due to friction as the chassis performs the same turning motion as Ackerman steering; finally, when the steering engine 150 at the front end and the rear end of the chassis can rotate, when the front and rear tires of the chassis are steered differently, the turning motion of the chassis can be realized, the turning radius is reduced, the loss of the tires due to friction can also be reduced, when the front and rear tires of the chassis are steered the same, the chassis can move obliquely in a manner similar to that of a Mecanum wheel chassis, and the omnidirectional motion is realized. The mobile robot chassis mechanism provided by the invention is provided with the suspension mechanism, can move in a rugged environment, can realize omnidirectional movement capability by adopting the front and rear double-steering mechanism, is provided with the four hub motors, and has larger load capacity.
Claims (4)
1. A chassis structure of a mobile monitoring robot with a double-steering mechanism is characterized by comprising a chassis base plate (111), wherein side suspensions are respectively arranged at four corners in the length direction of the chassis base plate (111), and the end part of each side suspension is connected with a hub motor; the Ackerman structures are respectively arranged at the two ends of the chassis bottom plate (111) along the length direction; the side suspensions positioned in the same width direction are connected with one Ackerman structure.
2. The chassis structure of a mobile monitoring robot with dual steering mechanisms according to claim 1, wherein the front half structure of the chassis of the mobile monitoring robot with dual steering mechanisms comprises a chassis left front hub motor (101), a chassis right front hub motor (104), a chassis front bumper (112), a chassis front T-shaped aluminum plate (113), a chassis front transverse reinforcing profile (114), a chassis front U-shaped baffle (115), a chassis front left short reinforcing profile (116), a chassis front left long reinforcing profile (117), a chassis front right long reinforcing profile (118), a chassis front right short reinforcing profile (119), a chassis front right short supporting profile (120), a chassis front right long supporting profile (121), a chassis front left long supporting profile (122), a chassis front left short supporting profile (123), a chassis front transverse supporting profile (124), A baffle plate supporting section bar (125) at the front end side of the chassis,
the chassis front end transverse reinforcing section bar (114), the chassis front end left side short reinforcing section bar (116), the chassis front end left side long reinforcing section bar (117), the chassis front end right side long reinforcing section bar (118) and the chassis front end right side short reinforcing section bar (119) form a structure for reinforcing the rigidity of a vehicle body and are fixed below a chassis front end U-shaped baffle (115); the chassis front end right side short supporting section bar (120), the chassis front end right side long supporting section bar (121), the chassis front end left side long supporting section bar (122), the chassis front end left side short supporting section bar (123) and the chassis front end transverse supporting section bar (124) form a supporting structure and are fixed on the two sides of the chassis front end U-shaped baffle (115); the T-shaped aluminum plate (113) at the front end of the chassis is fixed below the U-shaped baffle (115) at the front end of the chassis and is used for fixing the lower end of the anti-collision plate (112) at the front end of the chassis; the upper end of the chassis front end anti-collision plate (112) is connected with the chassis front end right long supporting section bar (121) and the chassis front end left long supporting section bar (122) to be fixed together.
3. The mobile robot chassis structure with dual steering mechanisms according to claim 1, wherein each side suspension comprises a shock absorber (126), a front wheel suspension bracket (127), a rear wheel suspension bracket (128), an upper wheel suspension fork plate (129), an upper wheel steering fixing block (130), a front wheel suspension fork plate connecting piece (131), a rear wheel suspension fork plate connecting piece (132), a wheel bearing seat (133), a lower wheel suspension fork plate (134), a lower wheel steering fixing block (135), a left rear wheel suspension fork plate connecting piece (136), a left front wheel suspension fork plate connecting piece (137), a right rear wheel suspension fork plate connecting piece (138), a right front wheel suspension fork plate connecting piece (139) and a wheel suspension bracket fixing seat, the front wheel suspension bracket (127) and the rear wheel suspension bracket (128) are fixed on the chassis base plate (111) through the wheel suspension bracket fixing seat, the front wheel suspension bracket (127) and the rear wheel suspension bracket (128) are connected with a lower wheel suspension fork plate (134) through a lower wheel suspension fork plate right rear side connecting piece (138) and a lower wheel suspension fork plate right front side connecting piece (139), the lower wheel suspension fork plate (134) is connected with a lower wheel steering fixing block (135) through a lower wheel suspension fork plate left rear side connecting piece (136) and a lower wheel suspension fork plate left front side connecting piece (137), the lower wheel steering fixing block (135) and an upper wheel steering fixing block (130) are jointly connected to a wheel bearing seat (133), the upper wheel steering fixing block (130) is connected with an upper wheel suspension fork plate (129), the upper wheel suspension fork plate (129) is connected between the front wheel suspension bracket (127) and the rear wheel suspension bracket (128), and finally the shock absorber (126) is fixed on the front wheel suspension bracket (127), The wheel suspension rear bracket (128) is connected with the wheel suspension lower fork plate.
4. The mobile monitoring robot chassis structure with the double steering mechanisms according to claim 1, wherein each ackermann structure comprises a left fisheye joint (143) of a passive steering rod, a passive steering rod (144), a right fisheye joint (145) of the passive steering rod, a slide rail guide rail frame (146), a slide rail fixing frame (147), a steering engine crank (148), a steering engine fixing seat (149), a steering engine (150), a left fisheye joint (151) of the steering engine steering rod, a steering engine steering rod (152), a right fisheye joint (153) of the steering engine steering rod, a left fisheye joint (154) of the active steering rod, an active steering rod (155), a right fisheye joint (156) of the active steering rod, a right steering link angle plate (157) and a left steering link angle plate (158), the slide rail guide rail frame (146) is fixed on a wheel suspension rear bracket (128) for a slide rail to slide on, a slide rail fixing frame (147) fixes the slide rail and is arranged on the slide rail guide rail frame (146), a steering engine (150) is arranged on an engine fixing seat (149), and the engine fixing seat (149) is fixed on a chassis bottom plate (111); one end of a steering engine crank (148) is connected with a steering engine (150), the other end of the steering engine crank is connected with a steering engine steering rod (152) through a fisheye joint (151) on the left side of the steering engine steering rod, the rotating direction of the steering engine (150) is transmitted to the steering engine steering rod (152), the steering engine steering rod (152) is connected with an active steering rod (155) through a fisheye joint (153) on the right side of the steering engine steering rod, the rotating direction of the steering engine (150) is transmitted to the active steering rod (155), the active steering rod (155) is connected with a steering link angle plate (157) on the right side through a fisheye joint (156) on the right side of the active steering rod, the rotating direction of the steering engine (150) is reflected to the steering link angle plate (157), so as to drive the wheels to rotate, the fisheye joint (153) on the right side of the steering engine steering rod and the fisheye joint (154) on the left side of the active steering rod are jointly connected to a sliding rail fixing frame (147), the direction of the rotation of the steering engine (150) is converted into the sliding rail to slide left and right, the passive steering rod (144) is connected with the sliding rail fixing frame (147) through the fisheye joint (145) on the right side of the passive steering rod, and the passive steering rod (144) is connected with the left steering link angle plate (158) through the fisheye joint (143) on the left side of the passive steering rod, so that the sliding rail slides left and right to drive wheels to steer.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735108A (en) * | 2022-04-29 | 2022-07-12 | 浙江航天润博测控技术有限公司 | Six-wheel chassis structure with Ackerman steering and pivot steering and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735108A (en) * | 2022-04-29 | 2022-07-12 | 浙江航天润博测控技术有限公司 | Six-wheel chassis structure with Ackerman steering and pivot steering and method |
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